[1]LENG Chun-tao,CAO Qi-xin.Anisotropy of 4wheeled omnidirectionally mobile robots[J].CAAI Transactions on Intelligent Systems,2007,2(3):45-51.
Copy

Anisotropy of 4wheeled omnidirectionally mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 2 Number of periods: 2007 3 Page number: 45-51 Column: 学术论文—人工智能基础 Public date: 2007-06-25
Title:
Anisotropy of 4wheeled omnidirectionally mobile robots
Author(s):
LENG Chun-tao;  CAO Qi-xin
Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China
Keywords:
omnidirectional mobile robot;  omnidirectional wheel;  anisotropy
CLC:
TP24
DOI:
-
Abstract:
Due to the special structure of omnidirectional wheels, the maximum velocity that a robot can achieve is different when the robot moves in different directions, and acceleration in different directions also varies. This is called anisotropy. To understand issues with omnidirectionally mobile robots, kinematic and dynamic models were established and the effects of anisotropy discussed. The relationship between the arrangement of omnidirectional wheels and the curve of maximal velocity was then determined. In order to reduce the effects of slipping on results, values of torques were given on every wheel that was being driven while the robot moved in each direction with acceleration. Simulations by ADAMS and MATLAB, and our experiments, verify the effectiveness of the theory. This thorough study of the anisotropy of omnidirectionally mobile robots provides a foundation for optimization of their control. 
References:
［1］ HE Zhenfeng, LIN Lanfen, MA Xueying. Design, modeling and trajectory gener at ion of a kind of four wheeled omnidirectional vehicle［A］. IEEE International Conference on systems, Man and Cyberneties［C］. Hague, Nethe rland. 2004,.
［2］WADA M， ASADA H H. Design and control of a variable footprint mechanism f or holonomic omnidirectional vehicles and its application to wheelchairs［J］. IEEE Transactions on Robotics and Automation, 1999, 15(6):978-9 89.
［3］SONG J B, BYUN K S. Design and control of a fourWheeled omnidirectional m ob ile robot with steerable omnidirectional wheels［J］. Journal of Robotic Systems , 200 4, 21(4):193-208.
［4］ASHMORE M, BARNES N. Omnidrive robot motion on curved paths: the fastest pa th between two points is not a straightline［A］. Proc Australian Joint Con ferenc e on Artificial Intelligence［C］. Canberra, Australia， 2002.
［5］张 翮，熊蓉等，褚 健,等．一种全方位移动机器人的运动分析与控制实现［J］．浙江大学学报(工学版)，2004，38（12）:1650-1653.
?ZHANG He, XIONG Rong, CHU Jian, et al. Motion analysis and control realization o f omnidirectional robot［J］. Journ al of Zhejiang University( Engineering Science)， 2004, 38(12):1650-1653.
［6］LEOW Y P, LOW K H, LOH W K. Kinematic modelling and analysis of m obile rob ots with omnidirectional???? ?wheels［A］. 7th International Conference on Control, Autom ation, Robotics and Vision［C］. Singapore, 2002.
［7］VIBOONCHAICHEEP P, SHIMADA A, KOSAKA Y et al. Rectification contr ol fo r mecanum wheeled omnidirectional vehicles［A］. The 29th Annual Conference of t he IEEE［C］. Virginia, USA, 2003.
［8］WILLIAMS R L, CARTER B E, GALLINA P. Dynamic model with slip for w heeled omnidirectional robots［J］. IEEE transactions on robotics and automation , 200 2, 18(3):285-293.
［9］BALAKRISHNA R, GHOSAL A. Modeling of slip for wheeled mobile robots［J］. I EEE Transactions on Robotics and Automation， 1995，11(1):126-132.
［10］余志生. 汽车理论［M］.北京：机械工业出版社，1990.
［11］ANGELES J. Fundamentals of robotic mechanical systems: Theory, methods, a nd algorithms: 2nd Ed［M］. New York： SpringerVerlag, 2003.
Similar References:

Memo

-

Last Update: 2009-05-07

Copyright © CAAI Transactions on Intelligent Systems